| 摘要 |
PCT No. PCT/FR88/00026 Sec. 371 Date Aug. 16, 1989 Sec. 102(e) Date Aug. 16, 1989 PCT Filed Jan. 19, 1988 PCT Pub. No. WO88/05712 PCT Pub. Date Aug. 11, 1988.The invention relates to a redundant robot of the modular type permitting displacement of a terminal from an initial position to a final position. This robot comprises a succession of stages (1i-1, 1i), each constituting a platform and six actuators arranged according to a closed angular architecture, a system of sensors associated with each stage, and control means permitting determining a configuration of the robot corresponding to the final position to be attained by the terminal and remotely operating the actuators for arranging the various stages according to this configuration. The control means comprises in particular means (26) for storing the space accessible by each platform, means (25) for inputting the final position to be attained, means (27) for computing the configuration of the robot, means (28) for computing the states of the actuators and a servo-interface for the latter.
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